In a small saucepan, whisk together low-sodium soy sauce, 6 tablespoons of water, honey, brown sugar, ginger, garlic, rice vinegar, and sesame oil if you're using it. Bring this mixture to a light boil over medium-high heat.
Whisk together the cornstarch with the remaining 1 tablespoon of water, then add this to the sauce mixture in the saucepan. Reduce the heat slightly and allow it to boil for 30 seconds to 1 minute, stirring constantly.
Once thickened, remove the saucepan from heat, cover it, and set it aside.
In a 12-inch non-stick skillet, heat 1 tablespoon of oil over medium-high heat.
Add the diced asparagus to the skillet and sauté until tender, which should take about 4 to 5 minutes.
In the same skillet, heat the remaining tablespoon of oil, then add the shrimp. Cook them on the first side for about 1 and a half minutes. Flip them over and cook on the opposite side until they're cooked through, which should also take about 1 and a half minutes.
Once the shrimp are ready, add the sautéed asparagus back into the skillet. Pour in the teriyaki sauce and toss everything together to ensure all the ingredients are well-coated.
Serve the stir fry warm over a bed of white or brown rice. Garnish with sesame seeds if desired.
